Stable and Safe Navigation Scheme for Mobile Robots Under Moving Obstacle Presence
Michael A. Gunarso, Tua A. Tamba · 2024
This paper reports a controller design methodology for a differential drive wheeled mobile robot (DDWMR) model which considers both safety and stability properties of the robot's operation. The proposed methodology first constructs a stabilizing controller using Control Lyapunov Function (CLF) concept and then generates a polynomial function-type reference trajectory to seamlessly connect the initial and final poses of the DDWMR. Subsequently, a Control Barrier Function (CBF) based scheme is used to ensure the safety of the DDWMR movement in avoiding moving obstacles while driving on the constructed reference trajectory. By the proposed CLF-CBF integration, the proposed approach offers an efficient solution for autonomous navigation of DDWMR in the presence of moving obstacles while also addresses the challenges posed by its nonholonomic constraint. The effectiveness of the proposed approach is shown through simulations which demonstrate the robot's ability to perform safe and stable collision-free movement and navigation.